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style(pre-commit): autofix
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pre-commit-ci[bot] committed Mar 25, 2024
1 parent 7895ade commit 5ab56d1
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Showing 2 changed files with 31 additions and 31 deletions.
7 changes: 4 additions & 3 deletions common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,9 +88,10 @@ class AutowareControlCenter : public rclcpp_lifecycle::LifecycleNode

void node_reports_callback();
void liveliness_callback(rclcpp::QOSLivelinessChangedInfo & event, const std::string & node_name);
void heartbeat_callback(const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg,
const std::string & node_name);
void filter_deregister_services(std::map<std::string, std::vector<std::string>>& srv_list);
void heartbeat_callback(
const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg,
const std::string & node_name);
void filter_deregister_services(std::map<std::string, std::vector<std::string>> & srv_list);
};

} // namespace autoware_control_center
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55 changes: 27 additions & 28 deletions common/autoware_control_center/src/autoware_control_center.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,6 @@
#include "autoware_control_center_msgs/srv/autoware_control_center_deregister.hpp"
#include <unique_identifier_msgs/msg/uuid.hpp>


#include <chrono>

using std::chrono::operator""ms;
Expand All @@ -38,7 +37,7 @@ AutowareControlCenter::AutowareControlCenter(const rclcpp::NodeOptions & options
RCLCPP_INFO(get_logger(), "AutowareControlCenter is initialized");
declare_parameter<int>("lease_duration", 220); // TODO(lexavtanke): remove default and add schema
std::chrono::milliseconds lease_duration_(get_parameter("lease_duration").as_int());

callback_group_mut_ex_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);

using std::placeholders::_1;
Expand Down Expand Up @@ -183,24 +182,23 @@ rclcpp::Subscription<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr
AutowareControlCenter::create_heartbeat_sub(const std::string & node_name)
{
RCLCPP_INFO(get_logger(), "Create heart sub is called.");
rclcpp::QoS qos_profile_ = rclcpp::QoS(10);
rclcpp::QoS qos_profile_ = rclcpp::QoS(10);
qos_profile_.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
.liveliness_lease_duration(lease_duration_);

rclcpp::SubscriptionOptions heartbeat_sub_options_;
std::function<void(rclcpp::QOSLivelinessChangedInfo & event)> bound_liveliness_callback_func =
std::bind(&AutowareControlCenter::liveliness_callback, this, std::placeholders::_1, node_name);
std::bind(&AutowareControlCenter::liveliness_callback, this, std::placeholders::_1, node_name);
heartbeat_sub_options_.event_callbacks.liveliness_callback = bound_liveliness_callback_func;

const std::string topic_name = node_name + "/heartbeat";
RCLCPP_INFO(get_logger(), "Topic to subscribe is %s", topic_name.c_str());
rclcpp::Subscription<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr heartbeat_sub_;
std::function<void(const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg)> bound_heartbeat_callback_func =
std::bind(&AutowareControlCenter::heartbeat_callback, this, std::placeholders::_1, node_name);
std::function<void(const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg)>
bound_heartbeat_callback_func =
std::bind(&AutowareControlCenter::heartbeat_callback, this, std::placeholders::_1, node_name);
heartbeat_sub_ = create_subscription<autoware_control_center_msgs::msg::Heartbeat>(
topic_name, qos_profile_,
bound_heartbeat_callback_func,
heartbeat_sub_options_);
topic_name, qos_profile_, bound_heartbeat_callback_func, heartbeat_sub_options_);

return heartbeat_sub_;
}
Expand Down Expand Up @@ -244,30 +242,31 @@ void AutowareControlCenter::autoware_node_error(
}
}


void AutowareControlCenter::liveliness_callback(rclcpp::QOSLivelinessChangedInfo & event,
const std::string & node_name)
void AutowareControlCenter::liveliness_callback(
rclcpp::QOSLivelinessChangedInfo & event, const std::string & node_name)
{
RCLCPP_INFO(get_logger(), "Reader Liveliness changed event:");
RCLCPP_INFO(get_logger(), " alive_count: %d", event.alive_count);
RCLCPP_INFO(get_logger(), " not_alive_count: %d", event.not_alive_count);
RCLCPP_INFO(get_logger(), " alive_count_change: %d", event.alive_count_change);
RCLCPP_INFO(get_logger(), " not_alive_count_change: %d", event.not_alive_count_change);
if (event.alive_count == 0) {
RCLCPP_ERROR(get_logger(), "Heartbeat was not received");
node_status_map_[node_name].alive = false;
}
RCLCPP_INFO(get_logger(), "Reader Liveliness changed event:");
RCLCPP_INFO(get_logger(), " alive_count: %d", event.alive_count);
RCLCPP_INFO(get_logger(), " not_alive_count: %d", event.not_alive_count);
RCLCPP_INFO(get_logger(), " alive_count_change: %d", event.alive_count_change);
RCLCPP_INFO(get_logger(), " not_alive_count_change: %d", event.not_alive_count_change);
if (event.alive_count == 0) {
RCLCPP_ERROR(get_logger(), "Heartbeat was not received");
node_status_map_[node_name].alive = false;
}
}

void AutowareControlCenter::heartbeat_callback(const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg,
const std::string & node_name)
void AutowareControlCenter::heartbeat_callback(
const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg,
const std::string & node_name)
{
RCLCPP_INFO(get_logger(), "Watchdog raised, heartbeat sent at [%d.x]", msg->stamp.sec);
node_status_map_[node_name].alive = true;
node_status_map_[node_name].last_heartbeat = msg->stamp;
}
RCLCPP_INFO(get_logger(), "Watchdog raised, heartbeat sent at [%d.x]", msg->stamp.sec);
node_status_map_[node_name].alive = true;
node_status_map_[node_name].last_heartbeat = msg->stamp;
}

void AutowareControlCenter::filter_deregister_services(std::map<std::string, std::vector<std::string>>& srv_list)
void AutowareControlCenter::filter_deregister_services(
std::map<std::string, std::vector<std::string>> & srv_list)
{
auto it = srv_list.begin();
// filter out srv with type autoware_control_center_msgs/srv/AutowareControlCenterDeregister
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